Inside Aibo ERS1000


The aibo system.
The main software system runs on “Qualcomm Snapdragon 820”,  Qualcomm Technologies for smartphones. The signals from the cameras and sensors,  some of the output devices such as OLEDs (displays) and speakers are connected to the SoC. The motion processor controls the 22 axes of actuators and is connected to the local microcomputer board of each joint’s actuator via UART. The board controls the feedback of the actuator. (*)


The main board.
The large chip (in the middle left) is containing the Snapdragon 820 and 4-Gbyte DRAM Micron Technology Inc . The silver chip (right) is a 2.4GHz-band Wi-Fi module Murata Type1DR. The black chip (right) is for power supply. On the backside are 32-Gbyte flash memory and a chip for touch sensors Atmel Corp.


The motion processor board.
The two black long chips are level-shifter chips Toshiba Electronic Corp . The black square chip (right) is a motion processor RX631 32-bit Renesas Electronics Corp. It is connected to the feedback control boards for the 22 axes.


The Feedback control boards.
Feedback control for positioning each joint at each actuator. Each board has a 32-bit microcomputer for feedback control TXZ3 Toshiba Electronic Corp which is equipped with an Arm Cortex-M3 driver chip with a bridge circuit for motor driving DRV8313 Texas Instruments Inc.


The encoder boards.
They are magnetic type encoder for controlling the positioning of each joint.


(*) source = Sony Corp

Aibo Voice Commands


English and Japanese voice commands supported by AIBO.
Should work for all 🙂


No. English Japanese pronunciation Description
1 “AIBO” “aibo aibo” a i b o a i b o The dog responds
2 “Shake Paw” “okawari” o k a w a r i Shake a paw
3 “Let’s Play” “asobou” a s o b (u) o Becomes playful
4 “Sit down” “suwaru “ s u w a d e Aibo sits
5 “Go Back” “bakku ourai” b a_ k u o o r a i Aibo step back
6 “Good Boy/Girl” yoshi-yoshi y o sh i y o sh i Praise Aibo
7 “Get Up” “okiru” o k i r ee Wake up
8 “Say Hello” “goaisatsu” g o a i s a ts u Aibo will greet you
9 “Hello” “kon nichi wa” k o /N/ n i ch i w a Greeting
10 “Good Morning” “ohayou” o h a y o u(o^) Greeting
11 “Good Night” “oyasumi” o y a s u m i Greeting
12 “Kick the Ball” “kikku” k i_ k u Kick the ball
13 “I am here” “tadaima” t a d a i m a Matches “Come Here”
14 “Go for it” “faito ippatsu” f a i t o i_ p a ts u Encouragement
15 “Are you alright” “genki” g e /N/ k i You care Aibo
16 “I like you” “daisuki” d a i s u k i Emotional
17 “Take a pose” “hai po-zu” h a i p o o z u Strike a pose
18 “Stand up” “tate” t a t e Aibo stands
19 “Stop” “sutoppu” s u t o_ p u Aibo stops moving
20 “Let’s Dance” “dansu” d a /N/ s u Start a little dance
21 “Don’t do it” “dame dame” d a m e d a m e Scold
22 “Bye Bye” “sayounara” s a y o u(o^) n a r a Greeting
23 “Turn / go left” “hidari” h i d a r i Aibo turns
24 “Turn / go right” “migi” m i g i Aibo turns
25 “Lay Down” “fusete” f u s e t e Aibo lays down
26 “Go Forward” “susume” s u s u m e Aibo walks
27 “Where’s the ball” “bo-ru sagashite” b o o r u s a g a sh i t e Tries to find the ball
28 “Roar” “gaou” g a o u(o^) Matches “Rollover”
29 “Walk Around” “aruite” a r u i t e Go wandering